| 书目名称 | Dynamic Analysis of Robot Manipulators | | 副标题 | A Cartesian Tensor A | | 编辑 | C. A. Balafoutis,R. V. Patel | | 视频video | | | 丛书名称 | The Springer International Series in Engineering and Computer Science | | 图书封面 |  | | 描述 | The purpose of this monograph is to present computationally efficient algorithms for solving basic problems in robot manipulator dynamics. In par ticular, the following problems of rigid-link open-chain manipulator dynam ics are considered : i) computation of inverse dynamics, ii) computation of forward dynamics, and iii) generation of linearized dynamic models. Com putationally efficient solutions of these problems are prerequisites for real time robot applications and simulations. Cartesian tensor analysis is the mathematical foundation on which the above mentioned computational algorithms are based. In particular, it is shown in this monograph that by exploiting the relationships between second order Cartesian tensors and their vector invariants, a number of new tensor vector identities can be obtained. These identities enrich the theory of Carte sian tensors and allow us to manipulate complex Cartesian tensor equations effuctively. Moreover, based on these identities the classical vector descrip tion for the Newton-Euler equations of rigid body motion are rewritten in an equivalent tensor formulation which is shown to have computational advan tages over the classical ve | | 出版日期 | Book 1991 | | 关键词 | algorithms; material; robot; simulation | | 版次 | 1 | | doi | https://doi.org/10.1007/978-1-4615-3952-0 | | isbn_softcover | 978-1-4613-6764-2 | | isbn_ebook | 978-1-4615-3952-0Series ISSN 0893-3405 | | issn_series | 0893-3405 | | copyright | Springer Science+Business Media New York 1991 |
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发表于 2025-3-21 17:24:46
